Hydrogel Actuators and Sensors for Biomedical Soft Robots: Brief Overview with Impending Challenges

Hydrogels in Electrophoresis: Applications and Advances

A hydrogel is a solid form of polymer network absorbed in a substantial amount of aqueous solution. In electrophoresis, hydrogels play versatile roles including as support media, sieving matrixes, affinity scaffolds, and compositions of molecularly imprinting polymers. Recently, the study of hydrogels has been advancing with unprecedented speed, and the application of hydrogels in separation science has brought new opportunities and possible breakthroughs. A good understanding about the roles and effects of the material is essential for hydrogel applications. This review summarizes the hydrogels that has been described in various modes of electrophoretic separations, including isoelectric focusing gel electrophoresis (IEFGE), isotachophoresis (ITP), gel electrophoresis and affinity gel electrophoresis (AGE). As microchip electrophoresis (ME) is one of the future trends in electrophoresis, thought provoking studies related to hydrogels in ME are also introduced. Novel hydrogels and methods that improve separation performance, facilitate the experimental operation process, allow for rapid analysis, and promote the integration to microfluidic devices are highlighted.

Printable homocomposite hydrogels with synergistically reinforced molecular-colloidal networks

The design of hydrogels where multiple interpenetrating networks enable enhanced mechanical properties can broaden their field of application in biomedical materials, 3D printing, and soft robotics. We report a class of self-reinforced homocomposite hydrogels (HHGs) comprised of interpenetrating networks of multiscale hierarchy. A molecular alginate gel is reinforced by a colloidal network of hierarchically branched alginate soft dendritic colloids (SDCs). The reinforcement of the molecular gel with the nanofibrillar SDC network of the same biopolymer results in a remarkable increase of the HHG’s mechanical properties. The viscoelastic HHGs show >3× larger storage modulus and >4× larger Young’s modulus than either constitutive network at the same concentration. Such synergistically enforced colloidal-molecular HHGs open up numerous opportunities for formulation of biocompatible gels with robust structure-property relationships. Balance of the ratio of their precursors facilitates precise control of the yield stress and rate of self-reinforcement, enabling efficient extrusion 3D printing of HHGs.

Composites which are made up of a single polymer, and yet allow modulation of the mechanical properties of the matrix without stress concentration, are challenging to fabricate. Here, the authors design a selfreinforced homocomposite alginate hydrogel with enhanced mechanical properties incorporating soft dendritic alginate colloids in the matrix and demonstrate its application in extrusion printing.

NIR-vis-UV Light-Responsive High Stress-Generating Polymer Actuators with a Reduced Creep Rate

Untethered, light-responsive, high-stress-generating actuators based on widely-used commercial polymers are appealing for applications in soft robotics. However, the construction of actuators that are stable and reversibly responsive to low-intensity ultraviolet, visible, and infrared lights remains challenging. Here, transparent, stress-generating actuators are reported based on ultradrawn, ultrahigh molecular weight polyethylene films. The composite films have different draw ratios (30, 70, and 100) and contain a small amount of graphene in combination with ultraviolet and near-infrared-absorbing dyes. The composite actuators respond rapidly (t_0.9 < 0.8 s) to different wavelengths of light (i.e., 780, 455, and 365 nm). A maximum photoinduced stress of 35 MPa is achieved at a draw ratio of 70 under near-infrared light irradiation. The photoinduced stress increases linearly with the light intensity, indicating the transfer of light into thermally induced mechanical contraction. Moreover, the addition of additives lead to a reduction in the plastic creep rate of the drawn films compared to their nonmodified counterparts.

3D Printing Materials for Soft Robotics

Soft robotics is a growing field of research, focusing on constructing motor-less robots from highly compliant materials, some are similar to those found in living organisms. Soft robotics has a high potential for applications in various fields such as soft grippers, actuators, and biomedical devices. 3D printing of soft robotics presents a novel and promising approach to form objects with complex structures, directly from a digital design. Here, recent developments in the field of materials for 3D printing of soft robotics are summarized, including high-performance flexible and stretchable materials, hydrogels, self-healing materials, and shape memory polymers, as well as fabrication of all-printed robots (multi-material printing, embedded electronics, untethered and autonomous robotics). The current challenges in the fabrication of 3D printed soft robotics, including the materials available and printing abilities, are presented and the recent activities addressing these challenges are also surveyed.

3D Printing Hydrogel-Based Soft and Biohybrid Actuators: A Mini-Review on Fabrication Techniques, Applications, and Challenges

Stimuli-responsive hydrogels are candidate building blocks for soft robotic applications due to many of their unique properties, including tunable mechanical properties and biocompatibility. Over the past decade, there has been significant progress in developing soft and biohybrid actuators using naturally occurring and synthetic hydrogels to address the increasing demands for machines capable of interacting with fragile biological systems. Recent advancements in three-dimensional (3D) printing technology, either as a standalone manufacturing process or integrated with traditional fabrication techniques, have enabled the development of hydrogel-based actuators with on-demand geometry and actuation modalities. This mini-review surveys existing research efforts to inspire the development of novel fabrication techniques using hydrogel building blocks and identify potential future directions. In this article, existing 3D fabrication techniques for hydrogel actuators are first examined. Next, existing actuation mechanisms, including pneumatic, hydraulic, ionic, dehydration-rehydration, and cell-powered actuation, are reviewed with their benefits and limitations discussed. Subsequently, the applications of hydrogel-based actuators, including compliant handling of fragile items, micro-swimmers, wearable devices, and origami structures, are described. Finally, challenges in fabricating functional actuators using existing techniques are discussed.

Highly Stretchable Flame-Retardant Skin for Soft Robotics with Hydrogel-Montmorillonite-Based Translucent Matrix

Flame-retardant coatings are crucial for intelligent systems operating in high-temperature (300-800°C) scenarios, which typically involve multi-joint discrete or continuous kinematic systems. These multi-segment motion generation systems call for conformable yet resilient skin for dexterous work, including firefighting, packaging inflammable substances, encapsulating energy storage devices, and preventing from burning. In fire scenes, a flame-retardant soft robot shall protect integrated electronic components safely and work for navigation and surveillance effectively. Here, we establish fire-resistant robotic mechanisms with montmorillonite (MMT)-biocompatible hydrogel skin, offering effective flame retardancy (∼78°C surface temperature after 3 min in fire) and high post-fire stretchability (∼360% uniaxial tensile strain). Fatigue test results in the MMT-hydrogel polymer matrix to portray a change in post-fire energy consumption of ∼21% (between the first cycle and the 200th cycle), further indicating robustness. MMT-hydrogel synthetic skin medium is then applied to everyday household items and electronics, offering appealing protections in fire scenes (≤10% capacitance loss after 3 min and ≤14% diode light-intensity loss after 1 min in fire). We deploy shape memory alloy (SMA) actuated inchworm-, starfish-, and snail-like locomotion (average velocity ∼12 mm·min^-1) for translating inside fire applications. With the stretchable and flame-retardant translucent barriers, the MMT-hydrogel skinned soft robots demonstrate stable compression/relaxation cycles (25 cycles) within flames (4 min 10 s) while protecting the electronic components inside in fire scene. We solve the agility vs. endurance conundrum in this article with SMA actuation independently via Joule heating without a cross-talk from the surrounding high-temperature arena.

Hydrogen-Bond-Triggered Hybrid Nanofibrous Membrane-Based Wearable Pressure Sensor with Ultrahigh Sensitivity over a Broad Pressure Range

Recently, flexible capacitive pressure sensors have received significant attention in the field of wearable electronics. The high sensitivity over a wide linear range combined with long-term durability is a critical requirement for the fabrication of reliable pressure sensors for versatile applications. Herein, we propose a special approach to enhance the sensitivity and linearity range of a capacitive pressure sensor by fabricating a hybrid ionic nanofibrous membrane as a sensing layer composed of Ti₃C₂T_x MXene and an ionic salt of lithium sulfonamides in a poly(vinyl alcohol) elastomer matrix. The reversible ion pumping triggered by a hydrogen bond in the hybrid sensing layer leads to high sensitivities of 5.5 and 1.5 kPa^-1 in the wide linear ranges of 0-30 and 30-250 kPa, respectively, and a fast response time of 70.4 ms. In addition, the fabricated sensor exhibits a minimum detection limit of 2 Pa and high durability over 20 000 continuous cycles even under a high pressure of 45 kPa. These results indicate that the proposed sensor can be potentially used in mobile medical monitoring devices and next-generation artificial e-skin.

Flow-driven Surface Instabilities of Tubular Chitosan Hydrogel

Spatial structures break their symmetry under the influence of shear stress arising from fluid flow. Here, we present surface instabilities appearing on chitosan tubes when an acidic solution of chitosan with various molecular weight is injected into a pool of sodium hydroxide solution. At slow flow rates wrinkle-to-fold transition takes place along the direction of the flow yielding a banded structure. For greater injection rates we observe coexisting modes of wrinkles and folds which are stabilized to periodic wrinkles when the alkaline concentration is increased. The instabilities are characterized by the scaling laws of the pattern wavelength and amplitude with the tube characteristics. Our experimental adaptation of mechanical instabilities provides a new in situ method to create soft biomaterials with the desired surface morphology without the use of any prefabricated templates.

Heterogeneous Hydrogel Structures with Spatiotemporal Reconfigurability using Addressable and Tunable Voxels

Stimuli-responsive hydrogels can sense environmental cues and change their volume accordingly without the need for additional sensors or actuators. This enables a significant reduction in the size and complexity of resulting devices. However, since the responsive volume change of hydrogels is typically uniform, their robotic applications requiring localized and time-varying deformations have been challenging to realize. Here, using addressable and tunable hydrogel building blocks-referred to as soft voxel actuators (SVAs)-heterogeneous hydrogel structures with programmable spatiotemporal deformations are presented. SVAs are produced using a mixed-solvent photopolymerization method, utilizing a fast reaction speed and the cononsolvency property of poly(N-isopropylacrylamide) (PNIPAAm) to produce highly interconnected hydrogel pore structures, resulting in tunable swelling ratio, swelling rate, and Young's modulus in a simple, one-step casting process that is compatible with mass production of SVA units. By designing the location and swelling properties of each voxel and by activating embedded Joule heaters in the voxels, spatiotemporal deformations are achieved, which enables heterogeneous hydrogel structures to manipulate objects, avoid obstacles, generate traveling waves, and morph to different shapes. Together, these innovations pave the way toward tunable, untethered, and high-degree-of-freedom hydrogel robots that can adapt and respond to changing conditions in unstructured environments.

Making bioinspired 3D-printed autonomic perspiring hydrogel actuators

To mitigate the adverse effects of elevated temperatures, conventional rigid devices use bulky radiators, heat sinks and fans to dissipate heat from sensitive components. Unfortunately, these thermoregulation strategies are incompatible with soft robots, a growing field of technology that, like biology, builds compliant and highly deformable bodies from soft materials to enable functional adaptability. Here, we design fluidic elastomer actuators that autonomically perspire at elevated temperatures. This strategy incurs operational penalties (i.e., decreased actuation efficiency and loss of hydraulic fluid) but provides for thermoregulation in soft systems. In this bioinspired approach, we 3D-print finger-like actuators from smart gels with embedded micropores that autonomically dilate and contract in response to temperature. During high-temperature operation, the internal hydraulic fluid flows through the dilated pores, absorbs heat and vaporizes. Upon cooling, the pores contract to restrict fluid loss and restore operation. To assess the thermoregulatory performance, this protocol uses non-invasive thermography to measure the local temperatures of the robot under varied conditions. A mathematical model based on Newton's law of cooling quantifies the cooling performance and enables comparison between competing designs. Fabrication of the sweating actuator usually takes 3-6 h, depending on size, and can provide >100 W/kg of additional cooling capacity.

Observation of iron oxide nanoparticle synthesis in magnetogels using magnetic resonance imaging

We show that magnetic resonance imaging (MRI) can be used to visualize the spatiotemporal dynamics of iron oxide nanoparticle growth within a hydrogel network during in situ coprecipitation. The synthesis creates a magnetic nanoparticle loaded polymer gel, or magnetogel. During in situ coprecipitation, iron oxide nanoparticles nucleate and grow due to diffusion of a precipitating agent throughout an iron precursor loaded polymer network. The creation of iron oxide particles changes the magnetic properties of the gel, allowing the synthesis to be monitored via magnetic measurements. Formation of iron oxide nanoparticles generates dark, or hypointense, contrast in gradient echo (GRE) images acquired by MRI, allowing nanoparticle nucleation to be tracked in both space and time. We show that the growth of iron oxide nanoparticles in the hydrogel scaffold is consistent with a simple reaction-diffusion model.

Convection-driven microfabricated hydrogels for rapid biosensing

A microscale biosensing platform using rehydration-mediated swelling of bio-functionalized hydrogel structures and rapid target analyte capture is described. Induced convective flow mitigates diffusion limited incubation times, enabling model assays to be completed in under three minutes. Assay design parameters have been evaluated, revealing fabrication criteria required to tune detection sensitivity.

Dynamic, multimodal hydrogel actuators using porphyrin-based visible light photoredox catalysis in a thermoresponsive polymer network

Hydrogels that can respond to multiple external stimuli represent the next generation of advanced functional biomaterials. Here, a series of multimodal hydrogels were synthesized that can contract and expand reversibly over several cycles while changing their mechanical properties in response to blue and red light, as well as heat (∼50 °C). The light-responsive behavior was achieved through a photoredox-based mechanism consisting of photoinduced electron transfer from a zinc porphyrin photocatalyst in its excited state to oligoviologen-based macrocrosslinkers, both of which were integrated into the hydrogel polymer network during gel formation. Orthogonal thermoresponsive properties were also realized by introducing N-isopropyl acrylamide (NIPAM) monomer simultaneously with hydroxyethyl acrylate (HEA) in the pre-gel mixture to produce a statistical 60 : 40 HEA : NIPAM polymer network. The resultant hydrogel actuators - crosslinked with either a styrenated viologen dimer (2V4+-St) or hexamer (6V12+-St) - were exposed to red or blue light, or heat, for up to 5 h, and their rate of contraction, as well as the corresponding changes in their physical properties (i.e., stiffness, tensile strength, Young's modulus, etc.), were measured. The combined application of blue light and heat to the 6V12+-St-based hydrogels was also demonstrated, resulting in hydrogels with more than two-fold faster contraction kinetics and dramatically enhanced mechanical robustness when fully contracted. We envision that the reported materials and the corresponding methods of remotely manipulating the dynamic hydrogels may serve as a useful blueprint for future adaptive materials used in biomedical applications.

Stimuli-Responsive Shape Changing Commodity Polymer Composites and Bilayers

Commodity polymers are produced in large volumes, providing robust mechanical properties at relatively low costs. The products made from these commodity polymers typically offer only static functionalities. Over the past decade, however, in the scientific literature, stimuli-responsive additives and/or polymer coatings have been introduced to commodity polymers, yielding composites and bilayers that change shape in response to light, temperature, and/or humidity. These stimuli responsive commodity polymers allow the marketing and sales of these otherwise bulk products as "high-end" smart materials for applications spanning from soft actuators to adaptive textiles. This Spotlight on Applications presents an overview of recent intriguing works on how shape changing commodity polymer composite and bilayer actuators based on polyamide 6, poly(ethylene terephthalate), polyethylene, and polypropylene have been fabricated that respond to environmental stimuli and discusses their potential applications.

Hydrogel-Based Technologies for the Diagnosis of Skin Pathology

Hydrogels, swellable hydrophilic polymer networks fabricated through chemical cross-linking or physical entanglement are increasingly utilized in various biomedical applications over the past few decades. Hydrogel-based microparticles, dressings and microneedle patches have been explored to achieve safe, sustained and on-demand therapeutic purposes toward numerous skin pathologies, through incorporation of stimuli-responsive moieties and therapeutic agents. More recently, these platforms are expanded to fulfill the diagnostic and monitoring role. Herein, the development of hydrogel technology to achieve diagnosis and monitoring of pathological skin conditions are highlighted, with proteins, nucleic acids, metabolites, and reactive species employed as target biomarkers, among others. The scope of this review includes the characteristics of hydrogel materials, its fabrication procedures, examples of diagnostic studies, as well as discussion pertaining clinical translation of hydrogel systems.

In-air fast response and high speed jumping and rolling of a light-driven hydrogel actuator

Stimuli-responsive hydrogel actuators have promising applications in various fields. However, the typical hydrogel actuation relies on the swelling and de-swelling process caused by osmotic-pressure changes, which is slow and normally requires the presence of water environment. Herein, we report a light-powered in-air hydrogel actuator with remarkable performances, including ultrafast motion speed (up to 1.6 m/s), rapid response (as fast as 800 ms) and high jumping height (~15 cm). The hydrogel is operated based on a fundamentally different mechanism that harnesses the synergetic interactions between the binary constituent parts, i.e. the elasticity of the poly(sodium acrylate) hydrogel, and the bubble caused by the photothermal effect of the embedded magnetic iron oxide nanoparticles. The current hydrogel actuator exhibits controlled motion velocity and direction, making it promising for a wide range of mobile robotics, soft robotics, sensors, controlled drug delivery and other miniature device applications.

Spatiotemporally Controlled Photoresponsive Hydrogels: Design and Predictive Modeling from Processing through Application

Photoresponsive hydrogels (PRHs) are soft materials whose mechanical and chemical properties can be tuned spatially and temporally with relative ease. Both photo-crosslinkable and photodegradable hydrogels find utility in a range of biomedical applications that require tissue-like properties or programmable responses. Progress in engineering with PRHs is facilitated by the development of theoretical tools that enable optimization of their photochemistry, polymer matrices, nanofillers, and architecture. This review brings together models and design principles that enable key applications of PRHs in tissue engineering, drug delivery, and soft robotics, and highlights ongoing challenges in both modeling and application.

Stimuli-Responsive Biomolecule-Based Hydrogels and Their Applications

This Review presents polysaccharides, oligosaccharides, nucleic acids, peptides, and proteins as functional stimuli-responsive polymer scaffolds that yield hydrogels with controlled stiffness. Different physical or chemical triggers can be used to structurally reconfigure the crosslinking units and control the stiffness of the hydrogels. The integration of stimuli-responsive supramolecular complexes and stimuli-responsive biomolecular units as crosslinkers leads to hybrid hydrogels undergoing reversible triggered transitions across different stiffness states. Different applications of stimuli-responsive biomolecule-based hydrogels are discussed. The assembly of stimuli-responsive biomolecule-based hydrogel films on surfaces and their applications are discussed. The coating of drug-loaded nanoparticles with stimuli-responsive hydrogels for controlled drug release is also presented.

Design of a pneumatic soft actuator controlled via eye tracking and detection

This work describes the control of a pneumatic soft robotic actuator via eye movements. The soft robot is actuated using two supply sources: a vacuum pump and an air supply pump for both negative and positive air supply sources respectively. Two controlled states are presented: the actuation of the vacuum and air pump. Through eye positioning and tracking on the graphical user interface to actuate either pump, a control command is directed to inflate or deflate the pneumatic actuator. The potential of this application is in rehabilitation, whereby eye movements are used to control a rehabilitation-based assistive soft actuator rather than ON/OFF electronics. This is demonstrated in this work using an elbow based rehabilitation soft actuator.

Wearable piezoelectric mass sensor based on pH sensitive hydrogels for sweat pH monitoring

Colorimetric and electrochemical (bio)sensors are commonly employed in wearable platforms for sweat monitoring; nevertheless, they suffer from low stability of the sensitive element. In contrast, mass-(bio)sensors are commonly used for analyte detection at laboratory level only, due to their rigidity. To overcome these limitations, a flexible mass-(bio)sensor for sweat pH sensing is proposed. The device exploits the flexibility of piezoelectric AlN membranes fabricated on a polyimide substrate combined to the sensitive properties of a pH responsive hydrogel based on PEG-DA/CEA molecules. A resonant frequency shift is recorded due to the hydrogel swelling/shrinking at several pH. Our device shows a responsivity of about 12 kHz/pH unit when measured in artificial sweat formulation in the pH range 3–8. To the best of our knowledge, this is the first time that hydrogel mass variations are sensed by a flexible resonator, fostering the development of a new class of compliant and wearable devices.

Bioprintable tough hydrogels for tissue engineering applications

Bioprinting is an advanced fabrication approach to engineer complex living structures as the conventional fabrication methods are incapable of integrating structural and biological complexities. It offers the versatility of printing different cell incorporated hydrogels (bioink) layer by layer; offering control over spatial resolution and cell distribution to mimic native tissue architectures. However, the bioprinting of tough hydrogels involve additional complexities, such as employing complex crosslinking or reinforcing mechanisms during printing and pre/post printing cellular activities. Solving this complexity requires attention from engineering, material science and cell biology perspectives. In this review, we discuss different types of bioprinting techniques with focus on current state-of-the-art in bioink formulations and pivotal characteristics of bioinks for tough hydrogel printing. We discuss the scope of transition from 3D to 4D bioprinting and some of the advanced characterization techniques for in-depth understanding of the 3D printing process from the microstructural perspective, along with few specific applications and conclude with the future perspectives in biofabrication of hydrogels for tissue engineering applications.

Thermally Tunable Dynamic and Static Elastic Properties of Hydrogel Due to Volumetric Phase Transition

The temperature dependence of the mechanical properties of polyvinyl alcohol-based poly n-isopropyl acrylamide (PVA-PNIPAm) hydrogel was studied from the static and dynamic bulk modulus of the material. The effect of the temperature-induced volumetric phase transition on Young’s Modulus, Poisson’s ratio, and the density of PVA-PNIPAm was experimentally measured and compared with a non-thermo-responsive Alginate hydrogel as a reference. An increase in the temperature from 27.5 to 32 °C results in the conventional temperature-dependent de-swelling of the PVA-PNIPAm hydrogel volume of up to 70% at the lower critical solution temperature (LCST). However, with the increase in temperature, the PVA-PNIPAm hydrogel showed a drastic increase in Young’s Modulus and density of PVA-PNIPAm and a corresponding decrease in the Poisson’s ratio and the static bulk modulus around the LCST temperature. The dynamic bulk modulus of the PVA-PNIPAm hydrogel is highly frequency-dependent before the LCST and highly temperature-sensitive after the LCST. The dynamic elastic properties of the thermo-responsive PVA-PNIPAm hydrogel were compared and observed to be significantly different from the thermally insensitive Alginate hydrogel.

Tea-polyphenol treated skin collagen owns coalesced adaptive-hydration, tensile strength and shape-memory property

Tea-polyphenol, as non-toxic skincare, even a therapeutic agent, was extensively studied from chemical, biological and physiological perspectives. This study reveals physical intelligences of a tea-polyphenol treated skin collagen (TP-treated SC) through a material-approach. Compared to untreated one, the TP-treated SC shows resistance to over-swelling and dehydration damage. There exists an inflection point in stress value of TP-treated SC below extension of 25%. Such promptly transformation from flexibility to stiffness is self-adaptive stretch behavior. Moreover, TP-treated SC owns water responsive shape-memory property. These effects are attributed to polyphenol as plasticizer with chains crosslinked to multi-sites on collagen-fibers as netpoints. The discovery, mechanism and method, which have not been reported before, may help to develop new shape memory device, skincare products, as well as provides insights into the physiological behavior of collagen contained tissue.

Physical Organohydrogels With Extreme Strength and Temperature Tolerance

Tough gel with extreme temperature tolerance is a class of soft materials having potential applications in the specific fields that require excellent integrated properties under subzero temperature. Herein, physically crosslinked Europium (Eu)-alginate/polyvinyl alcohol (PVA) organohydrogels that do not freeze at far below 0°C, while retention of high stress and stretchability is demonstrated. These organohydrogels are synthesized through displacement of water swollen in polymer networks of hydrogel to cryoprotectants (e.g., ethylene glycol, glycerol, and d-sorbitol). The organohydrogels swollen water-cryoprotectant binary systems can be recovered to their original shapes when be bent, folded and even twisted after being cooled down to a temperature as low as -20 and -45°C, due to lower vapor pressure and ice-inhibition of cryoprotectants. The physical organohydrogels exhibit the maximum stress (5.62 ± 0.41 MPa) and strain (7.63 ± 0.02), which is about 10 and 2 times of their original hydrogel, due to the synergistic effect of multiple hydrogen bonds, coordination bonds and dense polymer networks. Based on these features, such physically crosslinked organohydrogels with extreme toughness and wide temperature tolerance is a promising soft material expanding the applications of gels in more specific and harsh conditions.

Polypropylene mesh for hernia repair with controllable cell adhesion/de-adhesion properties

Herein, a versatile bilayer system, composed by a polypropylene (PP) mesh and a covalently bonded poly(N-isopropylacrylamide) (PNIPAAm) hydrogel, is reported. The cell adhesion mechanism was successfully modulated by controlling the architecture of the hydrogel in terms of duration of PNIPAAm grafting time, crosslinker content, and temperature of material exposure in PBS solutions (below and above the LCST of PNIPAAm). The best in vitro results with fibroblast (COS-1) and epithelial (MCF-7) cells was obtained with a mesh modified with a porous iPP-g-PNIPAAm bilayer system, prepared via PNIPAAm grafting for 2 h at the lowest N,N'-methylene bis(acrylamide) (MBA) concentration (1 mM). Under these conditions, the detachment of the fibroblast-like cells was 50% lower than that of the control, after 7 days of cell incubation, which represents a high de-adhesion of cells in a short period. Moreover, the whole system showed excellent stability in dry or wet media, proving that the thermosensitive hydrogel was well adhered to the polymer surface, after PP fibre activation by cold plasma. This study provides new insights on the development of anti-adherent meshes for abdominal hernia repair.

Electrothermally Driven Hydrogel-on-Flex-Circuit Actuator for Smart Steerable Catheters

This paper reports an active catheter-tip device functionalized by integrating a temperature-responsive smart polymer onto a microfabricated flexible heater strip, targeting at enabling the controlled steering of catheters through complex vascular networks. A bimorph-like strip structure is enabled by photo-polymerizing a layer of poly(N-isopropylacrylamide) hydrogel (PNIPAM), on top of a 20 × 3.5 mm² flexible polyimide film that embeds a micropatterned heater fabricated using a low-cost flex-circuit manufacturing process. The heater activation stimulates the PNIPAM layer to shrink and bend the tip structure. The bending angle is shown to be adjustable with the amount of power fed to the device, proving the device’s feasibility to provide the integrated catheter with a controlled steering ability for a wide range of navigation angles. The powered device exhibits uniform heat distribution across the entire PNIPAM layer, with a temperature variation of <2 °C. The operation of fabricated prototypes assembled on commercial catheter tubes demonstrates their bending angles of up to 200°, significantly larger than those reported with other smart-material-based steerable catheters. The temporal responses and bending forces of their actuations are also characterized to reveal consistent and reproducible behaviors. This proof-of-concept study verifies the promising features of the prototyped approach to the targeted application area.

Specialty Tough Hydrogels and Their Biomedical Applications

Hydrogels have long been explored as attractive materials for biomedical applications given their outstanding biocompatibility, high water content, and versatile fabrication platforms into materials with different physiochemical properties and geometries. Nonetheless, conventional hydrogels suffer from weak mechanical properties, restricting their use in persistent load-bearing applications often required of materials used in medical settings. Thus, the fabrication of mechanically robust hydrogels that can prolong the lifetime of clinically suitable materials under uncompromising in vivo conditions is of great interest. This review focuses on design considerations and strategies to construct such tough hydrogels. Several promising advances in the proposed use of specialty tough hydrogels for soft actuators, drug delivery vehicles, adhesives, coatings, and in tissue engineering settings are highlighted. While challenges remain before these specialty tough hydrogels will be deemed translationally acceptable for clinical applications, promising preliminary results undoubtedly spur great hope in the potential impact this embryonic research field can have on the biomedical community.

Biohybrid robotics with living cell actuation

This review comprehensively discusses recent advances in the basic components, controlling methods and especially in the applications of biohybrid robots.

Mechano-chromic protein-polymer hybrid hydrogel to visualize mechanical strain

In a proof-of-concept study, a mechano-chromic hydrogel was synthesized here, via chemoenzymatic click conjugation of fluorophore-labeled fibronectin into a synthetic hydrogel co-polymers (i.e., poly-N-isopropylacrylamide/polyethylene glycol). The optical FRET response could be tuned by macroscopic stretch.

Hydrogel-Shielded Soft Tactile Sensor for Biocompatible Drug Delivery Monitoring

Tactile sensing is an emerging technological advancement in surgical robotics in order to probe interactions between confined tissue environments and instruments based on touch information. The tactile sense can assist in improving the efficiency of the whole practice and hence enhance precision, control, and safety during surgery. This paper demonstrates a distinct proof-of-concept therapeutic device equipped with a soft tactile sensor. The tactile sensor was custom-made using flexible piezoresistive materials and conductive ink, wrapped with a biocompatible hydrogel polymer matrix for safer human–tissue interactions. The proposed tactile sensor was then calibrated and its performance was compared with gold standard sensors. It was further tested with a continuous force (5 N) for an extended period of time (about 6 h) to address robustness and repeatability. The sensor showed a sensitivity of 0.833 N−1 and a drift of ≤1%. Successful cadaver experiment demonstrates the efficiency of tactile sensing assistance to clinicians.

Statistical Modeling of Photo-Bending Actuation of Hybrid Silicones Mixed with Azobenzene Powder

Mechanically responsive materials are promising as next-generation actuators for soft robotics, but have scarce reports on the statistical modeling of the actuation behavior. This research reports on the development and modeling of the photomechanical bending behavior of hybrid silicones mixed with azobenzene powder. The photo-responsive hybrid silicone bends away from the light source upon light irradiation when a thin paper is attached on the hybrid silicone. The time courses of bending behaviors were fitted well with exponential models with a time variable, affording fitting constants at each experimental condition. These fitted parameters were further modeled using the analysis of variance (ANOVA). Cubic models were proposed for both the photo-bending and unbending processes, which were parameterized by the powder ratio and the light intensity. This modeling process allows such photo-responsive materials to be controlled as actuators, and will possibly be effective for engineering mechanically responsive materials.

Photoresponsive Graphene Composite Bilayer Actuator for Soft Robots

Highly deformable and photoresponsive smart actuators are attracting increasing attention. Here, a high concentration of graphene is dispersed in polydimethylsiloxane (PDMS) by combining the advantages of various dispersion methods. The composite and pure PDMS layers are used to fabricate bilayer actuators with a high capacity for rapid deformation. The fabricated bilayer actuators exhibit novel and interesting properties. A bilayer actuator containing a 30 wt % graphene composite can be deflected by 7.9 mm in the horizontal direction under infrared laser irradiation. The graphene concentration in the composite influences actuator adjustment to deformation and its response speed, and the composite also exhibits superhydrophobicity. On the basis of its superhydrophobicity and large deformation capacity, the actuator made with 30 wt % graphene composite is used to construct a beluga whale soft robot. The robot can swim quickly in water at an average speed of 6 mm/s, and it can cover a distance of 30 mm in 5 s when irradiated just once with an infrared laser. Actuators fabricated with this method can be used in artificial muscle, bionic grippers, and various soft robots that require actuators with large deformation capacities.

Design and Applications of Photoresponsive Hydrogels

Hydrogels are the most relevant biochemical scaffold due to their tunable properties, inherent biocompatibility, and similarity with tissue and cell environments. Over the past decade, hydrogels have developed from static materials to "smart" responsive materials adapting to various stimuli, such as pH, temperature, chemical, electrical, or light. Light stimulation is particularly interesting for many applications because of the capability of contact-free remote manipulation of biomaterial properties and inherent spatial and temporal control. Moreover, light can be finely adjusted in its intrinsic properties, such as wavelength and intensity (i.e., the energy of an individual photon as well as the number of photons over time). Water is almost transparent for light in the photochemically relevant range (NIR-UV), thus hydrogels are well-suited scaffolds for light-responsive functionality. Hydrogels' chemical and physical variety combined with light responsiveness makes photoresponsive hydrogels ideal candidates for applications in several fields, ranging from biomaterials, medicine to soft robotics. Herein, the progress and new developments in the field of light-responsive hydrogels are elaborated by first introducing the relevant photochemistries before discussing selected applications in detail.

Soft Robotics

In Nature, the adaptability of many organisms and their capability to survive in challenging and dynamically changing environments are closely linked to their characteristics and the morphology of their body parts [...].

Deep Reinforcement Learning for Soft, Flexible Robots: Brief Review with Impending Challenges

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to the sprouting of a relatively new yet rewarding sphere of technology in intelligent soft robotics. The fusion of deep reinforcement algorithms with soft bio-inspired structures positively directs to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment. For soft robotic structures possessing countless degrees of freedom, it is at times not convenient to formulate mathematical models necessary for training a deep reinforcement learning (DRL) agent. Deploying current imitation learning algorithms on soft robotic systems has provided competent results. This review article posits an overview of various such algorithms along with instances of being applied to real-world scenarios, yielding frontier results. Brief descriptions highlight the various pristine branches of DRL research in soft robotics.

Luminescent and mechanical enhancement of phosphorescent hydrogel through cyclic insulation of platinum-acetylide crosslinker

An insulated Pt-acetylide complex was incorporated into a polymer network as a crosslinker to afford a phosphorescent gel.

Hydrogel-matrix encapsulated Nitinol actuation with self-cooling mechanism

We encapsulate Nitinol shape-memory-alloy wire in a hydrogel-matrix to fabricate a lightweight (≈1 g), self-cooling actuator (HENA) for soft robots.